ABS Codes - Do they clear themselves?

[jsphlynch]

Our family hauler is a Kia Sorento. About a year ago, the ABS, traction control, and hill assist lights all lit up. I had the guys at the auto parts store pull the code: wheel speed sensor failure on the rear right side. The sensor is integrated with the hub assembly, so I replaced the whole hub assembly, which immediately resolved the problem.

Fast forward to now. The dash lights are back on. Took it to a local auto parts store to have the codes read, and this time it threw codes for wheel speed sensors on BOTH rear wheels.

So here's my question: Is it possible that the car still had the code for the right sensor failure stored from last year, and my only problem today is the left sensor has now failed? I can't believe that both sensors failed at the same time, but I'm not sure if I should be assuming it's just the left wheel this time, or if I may have a problem elsewhere (bad wire somewhere?).

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[jsphlynch]

Update: It turns out that Kias do store old ABS codes for over a year after the problem is fixed, even if the battery gets disconnected sometime during that period.